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Added PG config definitions 4

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This commit is contained in:
Martin Budden 2017-02-25 17:35:00 +00:00
parent fd1d8d532e
commit c92679f454
10 changed files with 110 additions and 13 deletions
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38
src/main/flight/mixer.c
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@ -34,6 +34,7 @@
#include "drivers/system.h"
#include "drivers/pwm_output.h"
#include "drivers/pwm_esc_detect.h"
#include "io/motors.h"
@ -69,6 +70,43 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.yaw_motor_direction = 1,
);
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
void pgResetFn_motorConfig(motorConfig_t *motorConfig)
{
#ifdef BRUSHED_MOTORS
motorConfig->minthrottle = 1000;
motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->dev.useUnsyncedPwm = true;
#else
#ifdef BRUSHED_ESC_AUTODETECT
if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfig->minthrottle = 1000;
motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->dev.useUnsyncedPwm = true;
} else
#endif
{
motorConfig->minthrottle = 1070;
motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_ONESHOT125;
}
#endif
motorConfig->maxthrottle = 2000;
motorConfig->mincommand = 1000;
motorConfig->digitalIdleOffsetPercent = 4.5f;
int motorIndex = 0;
for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && motorIndex < MAX_SUPPORTED_MOTORS; i++) {
if (timerHardware[i].usageFlags & TIM_USE_MOTOR) {
motorConfig->dev.ioTags[motorIndex] = timerHardware[i].tag;
motorIndex++;
}
}
}
#define EXTERNAL_DSHOT_CONVERSION_FACTOR 2
// (minimum output value(1001) - (minimum input value(48) / conversion factor(2))
#define EXTERNAL_DSHOT_CONVERSION_OFFSET 977